Research On Structure Design And Self-Morphing Method Of The Modular Self-Reconfigurable Robot

Modular Self-Reconfigurable Robot(MSR) is a multi-robot system that composited by many intelligent modules. It can change its geometric structures to complete difficult tasks that cannot be handled by normal robots in different environment by the motion of its modules. The research of MSR system has important theory value and vast application prospect.At first, we propose and design a novel, three-dimensional, lattice and homogenous modular self-reconfigurable robot. The basic modular like cube shape and have a connection plane on every face. It use cone gear to transmit motions and makes the six planes rotate independently. The planes of neighboring modules can connect to each other by the axis-hole locking system on each connection plane.After research of connecting process, we found the two connection plane may have post error when they are docking. This error can be calculated by the distance between two points on each plane. Then we design a method which has the usage of IR sensors to measure this distance. The motor in the modular can eliminate the post error after...